Camera system for the accurate coupling of a trailer vehicle to a tractor vehicle

Abstract

The invention describes, amongst other things, a camera system for the accurate coupling of a trailer vehicle (200) to a tractor vehicle (100), having a first camera (130) that is attachable to the tractor vehicle (100) and provides first image data (133), and a second camera (131) that provides second image data (134) and is attached in an offset manner on one of the vehicle axes (x, y, z) of the tractor vehicle (100) with respect to the first camera (130), wherein the first and second image data (133, 134) are displayed as a common screen motif (135) on a display device (132) installed in a driver's cab. According to the invention, the first and second camera (130, 131) are oriented such that a safety-relevant region (SD) behind the tractor vehicle (100) is recorded by means of the first camera (130) and a coupling-relevant region (SR), in which a coupling element (201), to be controlled, of the trailer vehicle (200) is discernible, is recorded by means of the second camera (131).

Description

[0001] CAMERA SYSTEM FOR ACCURATE COUPLING OF A TRAILER TO A TOWING VEHICLE

[0002] DESCRIPTION

[0003] The invention relates to a camera system for accurately coupling a trailer to a towing vehicle according to the features in the preamble of claim 1. Furthermore, the invention is also implemented on a towing vehicle.

[0004] The towing vehicle is equipped with a coupling device for the releasable attachment of a trailer-side coupling element. During the coupling process, the towing vehicle typically approaches the stationary trailer in slow reverse, whose trailer-side coupling element must be inserted as precisely as possible into the towing vehicle's coupling device and then locked there. An inaccurate approach of the towing vehicle results in the trailer-side coupling element not being engaged by the towing vehicle's coupling device, which can cause significant damage to the vehicles. A coupling that appears to be correct is particularly dangerous, but in which the trailer-side coupling element is not fully locked into the towing vehicle's coupling device, which can result in the vehicles becoming detached from each other during ferry operation.

[0005] There are already efforts in the state of the art to simplify the coupling process for the driver. US 2014 / 0151979 A1 proposes attaching a camera carrier between the vehicle frame members and installing a rearward-facing first camera on the camera carrier to capture the kingpin of a trailer vehicle and a forward-facing second camera to capture the entry opening of a fifth wheel coupling. Both cameras are connected to a display located in the driver's cab. The screen images from both cameras can then be displayed side by side on the display, allowing the driver to see the trailer-side coupling element on one half of the screen and the towing vehicle-side coupling element on the other half.However, it has proven disadvantageous that the driver has to look at the screen image of the first and second camera alternately during maneuvering in order to be able to estimate the respective position of the kingpin relative to the fifth wheel coupling.

[0006] GB 2513393 A discloses an assistance system for coupling a trailer to a passenger car using a plurality of cameras arranged thereon. A composite screen motif can be generated on a display device from the image data of a plurality of cameras, wherein a first camera provides image data relating to the rear driving area and second cameras installed in the exterior mirrors extend the rear driving area laterally.

[0007] DE 10 2016 120 349 A1 also describes a

[0008] Trailer reversing assistance system with a camera whose image data is used to determine a coupling angle between the towing vehicle and trailer vehicle when the vehicle is automatically steered during the trailer reversing maneuver. The camera can be positioned in particular in the upper area of ​​a vehicle tailgate and has a field of view suitable for recording one or more images of the trailer vehicle. The invention was therefore based on the object of improving a camera system or a towing vehicle with a camera system installed thereon in such a way that the driver no longer needs to mentally switch between a first and second screen image when viewing the display device during coupling in order to obtain a comprehensive overview of the areas behind the towing vehicle that are important to him.

[0009] The problem is solved by the features of claim 1. The first and second cameras operate in particular in the visible light range. Alternatively, the cameras can also operate in the non-visible spectrum, and the display device performs visible processing of the first and second image data.

[0010] The single screen image always contains first image data from the first camera and second image data from the second camera. Any contours and visible edges of an object captured in the first and second image data merge seamlessly, i.e., without discontinuities, into the shared screen image. The first image data of the safety-relevant area are preferably at least partially supplemented with the second image data of the coupling-relevant area along the vehicle's vertical axis and / or in the rearward extension of the vehicle's longitudinal axis.

[0011] This allows the driver to concentrate on only a single screen image, in which both safety-relevant information regarding a safety-relevant area located behind the towing vehicle and information relevant to coupling the trailer vehicle regarding a coupling-relevant area in the rearward direction of travel are visible on a single screen image, while simultaneously avoiding blind spots that cannot be seen. It may be preferable for the second image data to be displayed on the display device above the first image data.

[0012] Advantageously, the screen image is composed by stitching first and second image data captured at the same time. Stitching refers to the creation of a large screen image from various smaller individual images, which generally show overlapping sections of the object. Consequently, each of the first image data and the second image data represents a portion of the combined screen image.

[0013] It is particularly advantageous if the safety-relevant area is defined by a vertical plane at a distance of 0.10 m to 5.00 m, particularly preferably 0.15 m to 3.50 m, very particularly preferably 0.30 m to 3.00 m, and most preferably 0.50 m to 1.00 m behind the towing vehicle. The vertical plane usually extends down to the road surface or rests on it. If this vertical plane is captured by the first camera, a collision with persons or obstacles close to the ground is also detected.

[0014] The vertical plane can be captured by the first camera. This results in the advantage that an obstacle located in the vertical plane is included in the first image data and displayed on the display device.

[0015] Preferably, a space is recorded which is spanned by the vertical plane along the expected trajectory. The towing vehicle uses this space when driving in the reverse direction. The vertical plane then moves back along a trajectory, creating a three-dimensional space. Theoretically, any point within this space can be touched by the towing vehicle. While the towing vehicle follows its trajectory, the safety-relevant area does not extend beyond the space in the direction of the vehicle's transverse axis and vertical axis. The coupling-relevant area is the area in which the coupling element of the trailer vehicle is the first visible area. The second camera is aligned and designed so that a coupling element of the trailer vehicle to be controlled is recognizable and in focus. The coupling element of the trailer vehicle to be controlled is always visible first in the second image data from the second camera.

[0016] The safety-relevant area and the coupling-relevant area are both located behind the vehicle, i.e. they are both at least partially in the rearward extension of the vehicle's longitudinal axis.

[0017] The screen motif is expediently formed from the first and second image data, which originate from different positions in the direction of the vehicle's longitudinal axis.

[0018] Ideally, the first and second cameras are aligned in the rearward direction of travel of the towing vehicle. This configuration is useful because the display device shows both the safety-relevant area and the coupling-relevant area for maneuvering before coupling the trailer vehicle in the rearward direction of travel.

[0019] The camera system described above can be mounted on a towing vehicle, with the second camera being attached to a component of a coupling device of the towing vehicle. Depending on the mounting position, the second camera can be mounted stationary on the component of the coupling device or movable relative to it, for example, to temporarily remove the second camera from a collision zone with the trailer-side coupling device during coupling. The second camera can also be attached directly to the component of the coupling device or spaced apart from it by means of a bracket. The towing vehicle is, for example, a tractor unit, and the coupling device is a fifth wheel coupling with a coupling plate.Advantageously, the component of the fifth wheel coupling is the coupling plate, one of the bearing blocks supporting the coupling plate, a mounting plate supporting the bearing blocks and / or a support cross member arranged between the bearing blocks and attached to both sides.

[0020] Preferably, the first camera is attached to a rear cross member of the tractor unit. According to a particularly advantageous embodiment of the invention, the tractor unit has a vehicle frame that is bordered at the rear by the rear cross member and / or projects laterally beyond it. The rear cross member forms the rear end of the tractor unit and is therefore particularly suitable for mounting the first camera in order to capture the road surface directly behind the tractor unit without obstructions or blind spots.

[0021] Alternatively, the towing vehicle can be a truck and the coupling device can be a jaw coupling. In this case, the jaw coupling components for attaching the second camera are preferably its retractable jaw, a screw-on flange, a housing for the locking mechanism, and / or a coupling body with a drawbar.

[0022] The second camera can be attached directly to the respective component or via a bracket. Here, too, it is possible to mount the second camera fixedly on the respective component or, alternatively, to mount it movably on it in order to temporarily move the second camera away from a potential collision zone as the trailer coupling element approaches. The first camera can, in particular, be attached to an underrun guard of the truck. The underrun guard provides the first camera with an unobstructed view of the safety-relevant area behind the towing vehicle and, in particular, of any persons or obstacles located behind the truck.

[0023] For a better understanding, the invention is explained in more detail below with reference to three figures.

[0024] FIG. 1: a side view of a tractor unit with a camera system comprising a first and a second camera;

[0025] FIG. 2: a side view of a truck with a camera system comprising a first and second camera and

[0026] FIG. 3: a display device with a screen motif composed of first and second image data.

[0027] FIG. 1 shows a side view of a towing vehicle 100 in the form of a semitrailer tractor 110, which is reversing toward a stationary trailer 200 in order to couple it. The trailer 200 is a semitrailer, to which a kingpin is attached in the front area as a coupling element 201. The semitrailer tractor 110 has a vehicle frame 101 extending along a vehicle longitudinal axis x, which carries a driver's cab 102 at one front end and a coupling means 103 designed as a fifth wheel coupling 140 at an opposite, second end. The vehicle frame 101 also carries the wheels 104 with which the towing vehicle 100 stands on a road surface F.

[0028] The fifth wheel coupling 140 comprises a coupling plate 141, into which the coupling element 201 of the trailer vehicle 200 is retracted during the coupling process and releasably held by a locking mechanism (not shown). The coupling plate 141 is pivotally mounted about a vehicle transverse axis y via two bearing blocks 142, of which only the front bearing block 142 in the image plane is visible in the side view of FIG. 1.

[0029] To better absorb lateral moments and forces, a support cross member 144 can be mounted stationary between the two bearing blocks 142 for stiffening purposes. This support cross member is attached to both sides of the bearing blocks 142. In the side view of FIG. 1, the support cross member is concealed by the bearing block 142 projecting in front of it and is therefore indicated only as a dashed line.

[0030] In principle, the bearing blocks 142 can be bolted to the vehicle frame 101 directly or by means of subframes. In the embodiment shown, however, the bearing blocks 142 are located on a mounting plate 143, which in turn is placed on top of the vehicle frame 101 and bolted to it.

[0031] The vehicle frame 101 terminates at the rear with a rear cross member 111. The rear cross member 111 projects laterally beyond the vehicle frame 101 in the vehicle's transverse axis y and protects the rear of the tractor unit 110 from damage while driving without a trailer 200. Typically, the rear cross member 111 also projects beyond the wheels 104 in the vehicle's transverse axis y. A first camera 130 is fixedly mounted on the rear cross member 111, which captures and provides first image data 133 from the safety-relevant area SD located directly behind the tractor unit 100. The first camera 130 is connected, either wired or wirelessly, to a display device 132 arranged in the driver's cab 102 and within the driver's field of vision.

[0032] The safety-relevant area SD comprises a vertical plane E standing on the road surface F, which must be captured by the first camera 130. The plane E can have a maximum size corresponding to the cross-sectional profile A of the towing vehicle 100. The plane E is spaced from the towing vehicle 100 by a distance XE in the rearward extension of the vehicle's longitudinal axis x.

[0033] A second camera 131 is attached to a component of the fifth wheel coupling 140, for example as shown in FIG. 1, to one of the bearing blocks 142 and / or to the coupling plate 141 and / or to the mounting plate 143 and / or to the support cross member 144, which camera captures and provides second image data 134 from a coupling-relevant area SR.

[0034] The coupling-relevant area SR is arranged in the vehicle vertical axis z above the safety-relevant area SD and projects beyond the safety-relevant area SD in the rearward extension of the vehicle longitudinal axis x, so that the expected coupling element 201 of the trailer vehicle 200 is the first to be seen there in the rearward direction of travel R for the purpose of coupling.

[0035] Behind the towing vehicle 100, the coupling-relevant area SR and the safety-relevant area SD overlap with increasing distance along the vehicle's longitudinal axis x. In the safety-relevant area SD captured by the first camera 130, the road surface F located directly behind the towing vehicle 100 is captured, in particular, whereas the coupling element 201 of the trailer vehicle 200 is only visible from a great distance but cannot be recognized due to the focus of the first camera. Consequently, the primary purpose of the first camera 130 is to use its first image data 133 to make a person P (see FIG. 3) lying directly behind the towing vehicle 100 or a low obstacle recognizable to the driver on the display device 132.

[0036] The second camera 131, which is arranged offset from the first camera 130 along the vehicle's longitudinal axis x and a vehicle's vertical axis z, cannot capture the area of ​​the road surface F located directly behind the towing vehicle 100 with its second image data 134, since this area is obscured by parts of the towing vehicle 100, such as the fifth wheel coupling 140, the vehicle frame 101 with attachments not shown, or the rear cross member 111. Therefore, a person lying directly behind the towing vehicle 100 or a low obstacle would not be visible to the driver based solely on the second image data 134 on the display device 132.

[0037] The display device 132 presents the driver with a coherent screen image 135 comprising first image data 133 from the first camera 130 and second image data 134 from the second camera 131, as will be explained below in connection with FIG. 3, without the driver having to mentally switch between two or more individual screen images during the coupling maneuver.

[0038] FIG. 2 shows an alternative embodiment of the invention, in which the camera system is installed on a towing vehicle 100 in the form of a truck 120. A jaw coupling 150, shown enlarged for clarity, is located on the rear of the truck 120 as the coupling means 103.

[0039] The trailer vehicle 200 has a drawbar as a coupling element 201, with a towing eye formed at its free end. To connect the truck 120 to the trailer vehicle 200, the towing eye is retracted into the jaw coupling 150 and locked therein by means of a coupling pin (not shown).

[0040] Offset along the vehicle's vertical axis z, an underrun guard 121 is located beneath the jaw coupling 150. This guard extends laterally beyond the vehicle frame 101 along the vehicle's transverse axis y and prevents the trailer-side coupling element 201 or parts of the trailer vehicle 200 or other obstacles from sliding under the towing vehicle 100 and causing damage when reversing without the trailer vehicle 200. In this exemplary embodiment, the first camera 130 is attached to the underrun guard 121.

[0041] The first camera 130 captures the first image data 133 of the

[0042] The safety-relevant area SD is located along the vehicle's longitudinal axis x directly behind the underrun protection 121, the first image data 133 depicting, among other things, the road surface F located behind the towing vehicle 100. Due to its ground-level mounting on the truck 120 and its focusing, the first camera 130 is not suitable for imaging the coupling element 201 of the trailer vehicle 200, which is arranged significantly above the first camera 130 in the vehicle's vertical axis z. The safety-relevant area SD is defined by the distance XE of the vertical plane E to the towing vehicle 100. The second camera 131, which is attached to components of the jaw coupling 100 and is shown in particular and as shown in FIG.2, is mounted on a housing 153 of the locking mechanism and / or indicated by a dashed line, on an entry mouth 151 and / or preferably by means of a camera holder on a coupling body with a drawbar 154 and / or likewise preferably by means of a camera holder on a screw-on flange 152. In this installation position, the second camera 131 is located in the vehicle's vertical axis z at a level opposite the trailer-side coupling element 201 to be accommodated, in the form of a towing eye. The second image data 134 recorded by the second camera 131 primarily depicts the trailer-side coupling element 201 within the coupling-relevant area SR as the truck 120 approaches the trailer vehicle 200, but does not capture the rear safety-relevant area SD located directly behind the underrun protection 121 with the road surface F located there.

[0043] On the display device 132 shown as an example in FIG. 3, the first and second image data 133, 134 are linked to one another and displayed on the display device as a common screen motif 135.

[0044] The first image data 133 are displayed in a partial section of the display device 132, and the safety-relevant area immediately behind the towing vehicle 100 can be seen. Any person P crawling behind the towing vehicle, for example a child crawling in search of a ball, is detected by the first image data 133 and is not located in the blind spot of the higher-mounted second camera 131. The second camera 131 provides second image data 134 in a further partial section of the display device 132, which second image data is optimized for displaying the trailer vehicle 200 and its coupling element 201, for example in the form of a kingpin. However, the partial section with the first image data 133 and the partial section with the second image data 134 do not need to be the same size on the display device 132.

[0045] The first and second image data 133, 134 merge seamlessly into one another, so that the driver only needs to concentrate on the single screen image 135. The first image data 133 is preferably arranged at the bottom of the display device 132, and the second image data 134 is arranged at the top.

[0046] LIST OF REFERENCE SYMBOLS

[0047] towing vehicle

[0048] vehicle frame

[0049] Driver's cab

[0050] coupling agent

[0051] Wheels

[0052] tractor unit rear cross member

[0053] Truck underrun protection first camera second camera display device first image data second image data screen image

[0054] Fifth wheel coupling coupling plate bearing blocks mounting plate support cross member

[0055] Jaw coupling retractable jaw screw-on flange

[0056] Housing locking mechanism 154 coupling body with pull rod

[0057] 200 trailer vehicle

[0058] 201 coupling element

[0059] A Cross-sectional profile of towing vehicle

[0060] E vertical plane safety-relevant area

[0061] F Road surface

[0062] P Person

[0063] R rearward direction of travel

[0064] SD security-relevant area

[0065] SR coupling-relevant area x vehicle longitudinal axis

[0066] XE Distance level safety-relevant area y Vehicle transverse axis z Vehicle vertical axis

Claims

PATENT CLAIMS Camera system for accurately coupling a trailer vehicle (200) to a towing vehicle (100), comprising a first camera (130) which can be mounted on the towing vehicle (100) and provides first image data (133), and a second camera (131) which provides second image data (134) and is mounted in one of the vehicle axes (x, y, z) of the towing vehicle (100) offset from the first camera (130), wherein the first and second image data (133, 134) are displayed on a display device (132) installed in the driver's cab as a common screen motif (135), characterized in that the first and second cameras (130, 131) are aligned such that a safety-relevant area (SD) behind the towing vehicle (100) is displayed by means of the first camera (130) and a coupling-relevant area is displayed by means of the second camera (131). (SR) is detected, in which a coupling element (201) of the trailer vehicle (200) to be controlled can be seen.Camera system according to claim 1, characterized in that the safety-relevant area (SD) is defined by a vertical plane (E) at a distance (XE) of 0.10 m to 5.00 m, particularly preferably 0.15 m to 3.50 m, very particularly preferably 0.30 m to 3.00 m, most preferably 0.50 m to 1.00 m behind the towing vehicle (100). Camera system according to claim 2, characterized in that the vertical plane (E) is captured by the first camera (130). Camera system according to claim 2 or 3, characterized in that a space is captured which is spanned by the plane (E) along the anticipated trajectory. Camera system according to one of claims 1 to 4, characterized in that the screen motif (135) is formed from the first and second image data (133, 134) which originate from different positions in the direction of the vehicle's longitudinal axis (x). Camera system according to one of claims 1 to 5, characterized in that the first image data (133) always captures a section of a road surface (F) located directly behind the towing vehicle (100). Camera system according to one of claims 1 to 6, characterized in that the first and second cameras (130, 131) are aligned in the rearward direction of travel (R) of the towing vehicle (100). Towing vehicle (100) with a camera system according to one of claims 1 to 7, characterized in that the second camera (131) is attached to a component of a coupling means (103) of the towing vehicle (100).Towing vehicle (100) according to claim 8, characterized in that the towing vehicle (100) is a semitrailer tractor (110) and the coupling means (103) is a fifth wheel coupling (140) with a coupling plate (141). Towing vehicle (100) according to claim 9, characterized in that the component of the fifth wheel coupling (140) is the coupling plate (141), one of the bearing blocks (142) supporting the coupling plate (141), a mounting plate (143) supporting the bearing blocks (142), and / or a support cross member (144) arranged between the bearing blocks (142) and fastened thereto on both sides. Towing vehicle (100) according to claim 9 or 10, characterized in that the first camera (130) is attached to a rear cross member (111) of the tractor unit (110). Towing vehicle (100) according to claim 11, characterized in that the tractor unit (110) has a vehicle frame (101) which is delimited at the rear by the rear cross member (111) and / or projects laterally beyond it. Towing vehicle (100) according to claim 8, characterized in that the towing vehicle (100) is a truck (120) and the coupling means (103) is a jaw coupling (150). Towing vehicle (100) according to claim 13, characterized in that the component of the jaw coupling (150) is an insertion jaw (151), a screw-on flange (152), a housing of the locking mechanism (153), and / or a coupling body with a drawbar (154). Towing vehicle according to claim 13 or 14, characterized in that the first camera (130) is attached to an underrun protection (121) of the truck (120).

Images